Doffer with pneumatic control system

ABSTRACT

Apparatus movable along a spinning frame to doff full bobbins from the spindles thereof and to don empty bobbins onto such spindles. Low pressure pneumatic sensors are provided for emitting a stream of low pressure air into the path of movement of selected elements of the apparatus and generating a pneumatic signal each time a stream of low pressure air is interrupted by the movement of such elements, and a low pressure pneumatic control system receives the pneumatic signals and operates the selected elements of the apparatus in a predetermined sequence.

BACKGROUND OF THE INVENTION

When the bobbins on the rotating spindles of a spinning frame have beenfilled with yarn, the operation of the spinning frame is stopped and allof the filled bobbins are doffed and replaced with empty bobbins to befilled during subsequent operation of the spinning frame. Since thisdoffing and donning operation must be carried out at relatively frequentintervals, and since the manual doffing and donning of bobbins is bothdifficult and time consuming, some manufacturers of modern spinningframes also produce complementary automatic doffing machines which arespecifically designed as an intergral part of a particular spinningframe. By designing a spinning frame and a doffing machine for integraluse with one another, it is usually feasible to control the doffingmachine electrically, using carefully designed and relatively safeelectrical components (e.g. solenoid operated valves) operated by theexisting electrical system in the spinning frame. An example of anintegrated spinning frame and doffing equipment is disclosed in U.S.Pat. No. 3,609,952, issued Oct. 5, 1971.

However, there are a very large number of spinning frame currently inuse which are of varying types, and which were not designed for integraluse with automatic doffing machines. In the majority of instances, thesespinning frames are doffed manually, with a workman simply walking alonga row of spinning frame spindles and manually removing the full bobbinsand placing empty bobbins on the spindles, all of which is burdensomefor the workman and requires a significant expense in terms of labor.

In an effort to deal with the problem of manually doffing and donningbobbins in conjunction with a wide variety of different spinning frames,a number of semi-automatic and automatic doffing machines haveheretofore been proposed, and these machines have met with varyingdegrees of success. For example, U.S. Pat. No. 2,175,349, issued Mar.30, 1935, to Escursell-Prat, discloses a doffing machine which ismanually pushed along a spinning frame with a combination of cams, gearsand similar mechanical elements being used to control and operate thevarious components of the machines. While semi-automatic, mechanicaloperation has the advantages of simplicity and safe operation, it alsosuffers a significant disadvantage in that it is not entirely reliablein operation, particularly when it is designed to carry outpredetermined sequential steps in doffing and donning the bobbins. Morespecifically, where a cam or similar operating element is relied upon tooperate a plurality of follower members in a predetermined sequence, itis not uncommon for the sequence cam to fail to operate properly one ormore of the followers, whereupon one or more of the steps in thesequential operation will not be carried out so that the doffing machinemay jam or otherwise become inoperative until repaired. This problem isparticularly acute where the sequence cam is moved or operated by apneumatic motor receiving pressurized fluid from the existing millcompressed air system because even small variations in the pressure ofsuch air system will adversely affect the operating relationship betweenthe sequence cam and the followers therefor, as for example byincreasing or decreasing the dwell time during which a follower isengaged by the moving sequence cam.

Some prior art doffing machines rely upon electrical power to operate orcontrol some of the elements thereof, such as U.S. Pat. No. 2,886,940,issued May 19, 1959, U.S. Pat. No. 3,895,482, issued July 22, 1975, andU.S. Pat. No. 3,442,072, issued May 6, 1969. However, electrical systemsused in doffing machines have two significant practical drawbacks.First, since the doffing machine is operated independently of thespinning frame, it must have its own source of electrical energy that isprovided continuously during its travel along the entire length of aspinning frame. Customarily, such electrical energy is supplied by anelectrical cord that is connected at one end to an available outlet ator near the spinning frame, and this electrical cord must then trailalong the spinning room floor behind the doffing machine as it movesalong the spinning frame, thereby creating a safety hazard to theoperators of the spinning room equipment and other personnel who mustwalk along the floor space where the exposed electrical cord is located.Additionally, to the extent that an electrical control system for thedoffing machine includes electrical switches having contacts which areopened and closed to control the operation of various elements of thedoffing machine, the usual concentration of lint which is present in theenvironment of any spinning room may result in the electrical contactsbecoming coated with a layer of such lint so that the contacts may notoperate properly and may create a fire hazard.

In accordance with the present invention, the aforementioned drawbacksare eliminated by providing a doffing machine having a unique pneumaticcontrol system for safely and reliably operating a plurality ofcoordinated movements in a predetermined sequence, with any particularstep in the sequence occurring only after a predetermined preceding stepor steps have been completed.

SUMMARY OF THE INVENTION

The doffing machine of the present invention includes a carriage membermovable along an existing spinning frame and includes movable transportmeans for causing such movement. The carriage member has mounted thereonempty bobbin donning apparatus for engaging an empty bobbin from asupply and carrying such empty bobbin to a position at which it isloaded onto a spinning frame spindle. Additionally, a full bobbindoffing apparatus is provided for engaging and removing full bobbinsfrom the spindles in a coordinated operation with the bobbin loadingapparatus. Pneumatic sensor elements are arranged in the doffing machineto emit a stream of air into the path of the moving parts associatedwith the transporting, doffing and donning apparatus and to generate asignal each time such stream of air is interrupted by such moving parts.An air logic control system is provided for receiving the aforesaidsignals, and for operating and transporting, doffing and donningapparatus in a predetermined sequence upon receipt of predeterminedsignals from the pneumatic sensors.

Preferably, the pneumatic sensors and the air logic control system aredesigned to operate at a very low air pressure (e.g. 5 p.s.i.g.) whichprovides a number of distinct advantages. First, there are no electricalhazards, as discussed above, and even less significant hazards which mayresult from the rupture of high pressure air lines are eliminated.Additionally, the control system is extremely reliable because only afew moving parts are included in the control system itself (e.g. theresilient diaphragms in the air logic control components), and eventhese movable parts are not significantly affected by line accumulationnor are they exposed to high pressures which could cause ruptures ormalfunction thereof. Also, the use of low pressure air permits veryeffective filtration of the air, thereby providing a far more reliableoperation of the air control system. Moreover, if the low pressure airlogic system is supplied from an existing high pressure source availablein a spinning room, this high pressure is substantially reduced beforebeing admitted to the control system so that even relatively largevariations in the high pressure supply will result in only small andgenerally insignificant variations in the air logic control system,whereby the air logic control system will continue to carry out itscontrol functions without any adverse effect thereon or, at worst, theair logic control system will simply shut down rather than continuing tooperate the doffing machine apparatus through an entire cycle in animproper manner, whereby the machine would probably be damaged andresult in undesirable down time while it was being repaired. Finally,this air logic control system is relatively inexpensive to install andmaintain.

In addition to the three basic operations of transporting the carriage,.[.and.]. donning .[.the.]. .Iadd.and .Iaddend.doffing bobbins, thedoffing machine of the present invention may include additionalapparatus for unloading the doffed full bobbins, and for supplying emptybobbins to the bobbin loading apparatus. Since these additionaloperations all include moving parts, the present invention provides fordisposing a pneumatic sensor to emit a stream of air into the path ofsuch moving parts, and the air logic control system is designed toreceive signals from these pneumatic sensors and to control theseadditional operations, together with the aforesaid three basicoperations, so that all of the operations are carried out in apredetermined sequence.

Finally, the air logic control system of the present invention providesa unique manner of generating an alarm and/or stopping the operation ofthe doffing machine altogether when a predetermined number of signalsare generated, each such signal indicating that the bobbin loading meanshas failed to load one or more bobbins onto a spinning frame spindleduring each operating cycle of the doffing machine.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front elevational view of a doffing machine embodying thepresent invention;

FIG. 2 is a right side elevational view of the doffing machine shown inFIG. 1, and illustrates the relationship of the doffing machine withrespect to a spinning frame;

FIG. 3 is a detail view of the transport mechanism of the doffingmachine shown in FIG. 1;

FIG. 4 is a detail view of a portion of the bobbin donning and doffingapparatus of the doffing machine shown in FIG. 1;

FIG. 5 is a detail view of another portion of the bobbin donning anddoffing apparatus of the doffing machine shown in FIG. 1;

FIG. 6 is a detail view of the full bobbin unloading mechanism used inthe doffing machine shown in FIG. 1;

FIG. 7 is a detail view of the empty bobbin supply apparatus of thedoffing machine shown in FIG. 1;

FIG. 8 is a detail view illustrating the positions of the empty bobbinand full bobbin engagement apparatus;

FIG. 9 is a detail view of one empty bobbin support associated with theempty bobbin supply apparatus shown in FIG. 7;

FIG. 10 is a diagrammatic illustration of the air logic control systemof the present invention;

FIG. 11 is a diagrammatic illustration of the sequence of operation ofthe doffing machines of the present invention; and

FIG. 12 is a detail view of a pneumatic sensor used in conjunction withthe present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

Looking now in greater detail at the accompanying drawings, FIGS. 1 and2 illustrate a doffing machine 10 embodying the present invention, suchdoffing machine 10 including a carriage frame 12 having four wheels 14mounted for relative vertical movement with respect thereto. The wheels14 are mounted in pairs to cross pieces 16 fixed to pivoted arms 18carried by the carriage frame 12, and each cross piece 16 is connectedto a linkage member 20 fitted to a conventional fluid motor or cylinder(not shown). The carriage frame 12 may be raised with respect to thefloor by the operator pressing the appropriate button (not shown) on thecontrol panel 24 which admits pressurized fluid to the cylinderwhereupon the linkage members 20 are moved outwardly to cause downwardpivotal movement of the pivot arms 18 and raise the carriage frame 12.To lower the carriage frame 12, the operator presses another button onthe control panel 24 which relieves the fluid pressure in the cylinder20 to allow the linkage members 20 to be retracted by the weight of thecarriage frame 12, whereby the carriage frame 12 is lowered.

A typical spining frame 26 having a row of upstanding spindles 28 isfitted with a guide rail 30 extending along the length thereof toreceive a guide roller 32 fixed to the carriage frame 12 for guiding thecarriage frame 12 during its movement along the spinning frame 26. Anupstanding floor rail 34 is secured in place along the extending lengthof the spinning frame 26 and adjacent thereto, and the carriage frame 12has mounted at the bottom thereof a pair of flanged guide wheels 36 forengaging the upstanding floor rail 34 as best seen in FIG. 2. Toposition the doffing machine 10 for operation, the carriage frame 12 israised, as described above, and the operator then moves the doffingmachine 10 to a position at one end of the spinning frame 26 with theguide roller 32 located above the guide rail 30 and with the guidewheels 36 located above the floor rail 34, and the doffing machine 10 isthen lowered until the guide roller 32 and the guide wheels 36 rest uponthe guide rail 30 and floor rail 34, respectively.

The doffing machine 10 is moved along the spinning frame inpredetermined incremental steps by transport apparatus illustrated inFIG. 3. This transport apparatus includes a fluid cylinder 38 having theleft-hand or trailing end thereof mounted to a vertical rod 40 extendingfrom a fluid cylinder 42, th fluid cylinder 38 having a piston 44extending therefrom to a pivoted connection with a block 46 fixed to theframe 12. The floor rail 34 has a plurality of spaced pins 48 extendingtherefrom, the spacing between the pins 48 corresponding to the distancewhich the doffing machine moves during each of its aforesaid incrementsof movement. The left-hand end of the fluid cylinder 38 has a dependingflange 50 formed with a slot 52 for engaging the pins 48, and theright-hand end of the fluid cylinder 38 has a upstanding member 54fitted at the top thereof with a block 56. The aforesaid fixed block 46has a fluid cylinder 56 secured thereto for raising and lowering abifurcated member 58, designed to engage the pin elements 48.

Disregarding for the moment the control of the transport apparatus andthe sequence of operation thereof, all of which will be explained ingreater detail below, the carriage frame 12 is moved along the floorrail 34 and the spinning frame 26 in the following manner. Thebifurcated member 58 is lowered by its operating cylinder 56 to engage apin element 48 located therebeneath, and, during a period when thecarriage frame 12 is not moving, the transport cylinder 38 is operatedto move to the right in FIG. 3 and relative to the carriage frame 12along the piston rod 44 which is anchored by the bifurcated member 58.When the transporting fluid cylinder 38 has moved all the way to abutthe fixed block 46, the slot 52 will be located above the center pinelement 48 shown in FIG. 3, and the lifting cylinder 42 is then operatedto lower the lifting piston 40 thereof until the slot 52 engages thecenter pin element 48. The lifting cylinder 56 is then operated to liftthe bifurcated member 58 off of the right pin element 48, and the maintransporting cylinder 38, which is now anchored at the center pinelement 48 by slot 52, is again operated to move the piston rod 44toward the right whereupon the entire carriage frame 12 is likewisemoved to the right. It will be apparent that the transporting cylinder38 has a movement extent which corresponds to the spacing between thepin elements 48 so that the carriage frame 12 will be moved along thespinning frame in predetermined increments represented by such spacingbetween the pin elements 48.

Also associated with the transport apparatus are three pneumatic sensorelements, namely a first sensor element 60 located near the left end ofthe transport cylinder 38, a second sensor element 62 located near theright end of the transport cylinder 38, and a third sensor element 64located above the bifurcated member lifting cylinder 56. These threesensor elements, and the other sensor elements to be described below,are all of identical and conventional construction, such as Micro-SensorType RML-5 manufactured by Festo-Maschinenfabrik G. Stoll, Berkheim,West Germany. As best seen in FIG. 12, each such pneumatic sensorincludes a casing 152 in which an inlet nipple 154 is mounted forconnection to one end of a flexible air inlet tube 156, the other end ofthe inlet tube 156 being connected to a source of low pressure air (notshown) whereby low pressure air flows through an annular outlet passage158 as a constant stream of air directed along the axis of the casing152. An outlet nipple 160 is located within the casing 152, and isconnected to one end of a flexible outlet tube 162 that is connected atits other end to the control panel 24. The outlet nipple 160communicates with a central bore 164 having an opening 166 locatedwithin the annular outlet passage 158. When the air stream flowing fromthe outlet passage 158 is interrupted, as by the proximate location of asurface disposed in such air stream, air is caused to flow into theopening 166, through the bore 164, and is transmitted by the outlet tube162 to the control panel 24 for generating a pneumatic signal thereat.

As seen in FIG. 3, a first interruption plate 60' is mounted to thepiston rod 40 extension, and is arranged so that in the raised positionof the transporting cylinder 38 it is out of the fluid stream emittedfrom the first sensor 60. However, when the left end of the transportingcylinder 38 is lowered, as described above, the first interruption plate60' interrupts such air stream and generates a pneumatic signal which istransmitted back to the control panel 24. Likewise, the surface 62' ofthe upstanding member 54 faces the second sensor 62 so that a pneumaticsignal is generated thereby when the transporting cylinder 38 is movedto its furthest leftward position as shown in FIG. 3, that is after thecarriage frame 12 has completed an increment of movement as describedabove. A vertically disposed interruption rod 66 is slidably carried inthe lifting cylinder 56 and the bifurcated member 58 for verticalmovement with respect thereto, the lower end of the rod 66 being locatedwithin the bifurcated member 58 so that when it engages a pin element 48the rod 66 will strike the pin element 48 and be moved upwardly with theupper surface 64' thereof moving into close proximity to the fixedsensor element 64 to generate a pneumatic signal. The signals generatedby the sensor elements 60, 62 and 64 are used to control the operationof the doffing machine 10, as will be explained in detail below.

The apparatus for loading and doffing bobbins in illustrated best inFIGS. 4, 5 and 8, and this apparatus is mechanically quite similar tothe loading and doffing mechanism disclosed in the aforementionedGillono U.S. Pat. No. 3,442,072. A plurality of six pairs of clamps 68,69 (see FIG. 8) are mounted on a subframe 70 that includes a horizontalrod 72 which is fixed to a pivot plate 74 having a roller 76 mountedthereon and carried in a guide slot 78 fixed to the carriage frame 12.The subframe 70 is arranged for vertical movement along guide rods 80,82 located at each end thereon, the left guide rod 80 being illustratedin FIG. 4 and the right guide rod 82 being illustrated in FIG. 5. Thesubframe 70 is raised and lowered by cooperating movable elements 84operated by fluid cylinders (not shown), and it will be noted that asthe subframe 70 is moved upwardly the clamps 68, 69 will remain in ahorizontal position until the roller 76 reaches the top of the slot 78where the direction of movement of the roller 76 is altered ninetydegrees to cause the pivot plate 74 to rotate ninety degrees, wherebythe clamps 68, 69 are carried from a horizontal disposition, as shown inFIG. 4, to a vertical disposition as shown in FIG. 1.

As best seen in FIG. 8, the three pairs of clamps 68 are mounted forpivotal movement about a pivot rod 71, with a spring member 73 urgingthe clamps 68 to a normally open position. The rear ends of the clamps68 each engage a fluid cylinder 86 which, when operated, expandsoutwardly to cause the clamps 68 to be closed against the bias of springmember 73 to engage the empty bobbins 75. Likewise, clamps 69 aremounted about pivot rods 77, and are normally urged to an open positionas seen in FIG. 8 by spring members 79. Fluid cylinders 86', whenoperated, cause the clamps 69 to close for engaging full bobbins 81.

As best seen in FIG. 5, a fourth pneumatic sensor 88 is fixed tocarriage frame 12 at a location above a fifth pneumatic sensor 90, andan interruption plate 88' is mounted on the right-hand element 84 forupward and downward movement therewith as the subframe 70 is raised andlowered as described above. The fourth and fifth sensore 88 and 90 arelocated so that the streams of air emitted therefrom will be interruptedby plate 88' when the subframe 70 is at its maximum raised and loweredpositions, respectively. A sixth pneumatic sensor 92 is also fixed tothe carriage frame 12 at a vertical location between the sensors 88 and90, and the stream of air from the sixth sensor 92 is interrupted by theside face 92' of guide block 94 when the subframe 70 has been raised apredetermined height, this predetermined height being the height atwhich the full bobbins grasped by the clamps 69 have cleared thespindles 28 during unloading of the full bobbins.

FIG. 6 is a rear perspective view of the full bobbin unloader apparatusof the doffing machine 10, such full bobbin unloader apparatus includinga fixed guide member 96 having three inclined chutes 98 extendingdownwardly from a horizontal support bar 100 on which full bobbins arelaid by three of the clamps 69 when they are located at their raisedvertical disposition described above. A throw box 102 is mounted on apivot shaft 104, and includes three compartments 106 disposed adjacentto and beneath the chutes 98 when the throw box 102 is located at itshorizontal position as shown in FIG. 6. A piston rod 108 extending froma fluid cylinder (not shown) is pivotally connected to the throw box 102at 110. A push down bar 112 is mounted on vertical disposed guide rods114, which are attached to cooperating fluid cylinders (not shown) tomove the push down bar 112 from its lowest or retracted position shownin FIG. 6 to a raised or extended position above the horizontal supportbar 100. In operation, the push down bar 112 is moved to its raised orextended position, and three full bobbins are then placed on thehorizontal support bar 100 by the three clamps 69 with the ends of thefull bobbins extending therebeyond to a position beneath the push downbar 112. The push down bar 112 is then lowered to its retracted positionto strike the ends of the full bobbins and tip them over so that theywill fall into the chutes and slide into the three compartments 106. Thepiston rod 108 is then operated to pivot the throw box 102 about pivotshaft 104 one hundred degrees whereby the throw box 102 is moved fromits horizontal or retracted position as shown in FIG. 6 to anapproximately vertical or extended position. This pivotal movement ofthe throw box 102 causes the full bobbins to be thrown from thecompartments 106 toward the left in FIG. 6 where a box 116 (see FIG. 1),detachably connected to the doffing machine 10 at the leading endthereof, receives and collects such full bobbins.

A seventh pneumatic sensor 118 is mounted on the carriage frame 12, andis disposed to emit a stream of air into the path of the throw box 102so that the back side wall 118' thereof interrupts such air stream whenthe throw box 102 reaches its aforesaid vertical or extended position.An eighth pneumatic sensor 120 is also mounted to the carriage frame 12so that its air stream will be interrupted by an interrupter plate 120',fixed to the push down bar 112, when the push down bar 112 reaches itslowest or retracted position as shown in FIG. 6.

FIG. 7 illustrates the empty bobbin supply apparatus which includesthree vertical empty bobbin channels 122, and a stationary frame 124mounted thereabove for slidably receiving a movable loading tray 126that is moved back and forth in a horizontal path by a fluid cylinder128 fixed to the stationary frame and having a piston rod 130 connectedto the slidable loading tray 126. The loading tray 126 is formed withthree slots 132, and a supply of empty bobbins is carried in adetachable hopper (not shown) located directly above the loading tray126, with the axes of the empty bobbins in the hopper extending in adirection parallel to the lengthwise dimensions of the slots 132. Theback and forth movement of the loading tray 126 causes three of theempty bobbins in the hopper to fall into slots 132 and to be carriedthereby until the loading tray 126 reaches its extended or left-handposition as shown in FIG. 7 where the slots 132 are aligned with thevertical channels 122 so that the empty bobbins will fall into suchvertical channels 122. An empty bobbin magazine 134 is located at thelower end of the vertical channels 122, and is also mounted for back andforth horizontal movement on guide rods 136, a piston rod 138 extendingfrom a fluid cylinder (not shown) being utilized to move the magazine134 back and forth. The magazine 134 has three U-shaped empty bobbinsupports 140 carried thereon, and these U-shaped supports 140 arearranged on the magazine 134 so that in the extending position thereof,shown in FIG. 7, the U-shaped supports 140 are not directly beneath thevertical channels 122. However, when the magazine 134 is moved towardthe left in FIG. 7 by the piston rod 138 to its retracted position, theU-shaped supports 140 will move to a position directly beneath thevertical channels 122 and an empty bobbin will then fall into each ofthe U-shaped supports 140 from which they are picked up and loaded ontospindles 28 by three of the clamps 68, as will be described below.

A ninth pneumatic sensor 142 is mounted to emit a stream of air into thepath of an interruptor plate 142' carried by the magazine 134 so thatsuch air stream is interrupted by the plate 142' when the magazine 134moves to its left or retracted position. A tenth pneumatic sensor 144 ismounted in the stationary frame 124, and its air stream is interruptedby the end face 144' of the loading tray 126 when it reaches its rightor retracted position.

As shown in greater detail in FIG. 9, the three abovedescribed U-shapedbobbin supports 140 mounted on the magazine 134 have eleventh, twelfthand thirteenth pneumatic sensors 146, 148 and 150 mounted therein,respectively, for emitting a stream of air upwardly, and each of thesestreams of air is interrupted each time an empty bobbin falls into theU-shaped bobbin supports 140 from the three vertical channels 122, asdescribed above, whereby a pneumatic signal is generated to indicate thepresence of an empty bobbin in the U-shaped bobbin supports 140.

The operation and control of the doffing machine 10 will now bedescribed in conjunction with FIG. 10 which is a diagrammaticillustration of the air logic control system of the present invention,and FIG. 11 which illustrates diagrammatically the sequence of operationof the various elements of the doffing machine 10. In FIG. 10, theconventional components of the air logic system are identified asfollows:

I. M--Memory Circuits

1--input signal

3--conditional signal

4--conditional signal

2--output signal (when 1 and 3 received, but not 4)

II. A--Amplifier Circuits

1--input signal

3--conditional signal

2--output signal (when 1 and 3 received)

III. B--Conditional Gate Circuits

3--input signal

2--output signal (when all 3's received)

IV. N--Not Gate Circuit

1--input signal

3--conditional signal

2--output signal (when 1 and not 3 received)

V. D--Circuit

1--input signal

2--output signal (when 1 received, and after constant time delay)

VI. O--Or Circuit

1--input signal

2--output signal (when any 1 received)

As described above, the doffing machine 10 is first mounted on the guiderail 30 of the spinning frame 26 at one end thereof with the guidewheels 36 positioned on the floor rail 34 as shown in FIG. 2. A supplyhose (not shown) containing compressed air (e.g. at about 80 p.s.i.)from the existing mill supply or other source is attached to the doffingmachine 10 to operate the fluid motors thereof, and the pressure of thiscompressed air is substantially reduced (e.g. to 5 p.s.i.g.) for use inthe air logic control system shown in FIG. 10. The spinning frame 26 isthen prepared for bobbin doffing and donning in the usual manner, andthe full bobbins on the first three spindles 28 of the spinning frame 26are manually doffed by the operator to provide three empty spindles 28on which empty bobbins can be donned automatically by the doffingmachine 10.

The operator then turns a selector switch on the control panel 24 toenergize the logic system with low pressure air, this energization beingrepresented by "Logic Supply" in FIG. 10 sending a signal to Ma3. Theoperator then presses a "Ready" button on the control panel 24 whichsends a signal to Ma1 which sets Ma and causes an output signal to begenerated at Ma2. This output signal is then applied simultaneously toMb3, directly to "Clamp Cutoff," to Mf3 through Nd, to "Engage TransportLift" through Nb, and to Mc3 through Na.

It is to be noted at this point that the cylinder for operating the"Clamps" in the block identified as "Pushdown And Clamps" includes aconventional two-way valve (not shown) which alternatively admits air toclose either the three clamps 68 which handle the three empty bobbins orto close three clamps 69 which handle the three full bobbins, so that innormal operation one of the other of these clamps 68, 69 are alwaysclosed. However, as a safety feature, it is desirable to make sure thatboth clamps 68, 69, which are open when the operating cylinders 86therefor are not energized, are open at the very start of operation incase there is some preliminary movement of the clamps 68, 69 which couldinterfere with or inadvertently hit other components of the doffingmachine 10 as it moves to its initial or ready position. Accordingly,the "Clamp Cut-Off" is a conventional valve (not shown) which is placedin series with the aforesaid clamp valve to prevent any air whateverbeing admitted to the clamp valve at the beginning of the doffingmachine operation. Thus, looking at the sequence chart in FIG. 11, the"Clamp Cut-Off" is closed when the air is first admitted to the logiccircuit whereby no air is admitted to the clamp valve so that all sixclamps remain open. When the "Ready" button is pressed, a signal is sentto the "Clamp Cut-Off" from Ma2 as described above, and the clamp outoff valve opens to admit air to the clamp valve, which is normally at aposition to close the empty bobbin clamps and permit the full bobbinclamps to open, whereby the empty bobbin clamps close to engage threeempty bobbins being supported in the U-shaped bobbin supports 140 (FIG.7).

Returning to the signal generated at Ma2, this signal is transmittedthrough Nb to "Engage Transport Lift" which operates the fluid cylinder42 (FIG. 3) to lower the right-hand end of transport cylinder 38 untilthe slot 52 engages the left pin element 48 in FIG. 3. This operationcauses the plate 60' to interrupt the air stream of first sensor 60 andsend a signal "Sensor No. 1" through Ae to Al3. Additionally, since thetransport cylinder 38 is at its left position in FIG. 3, second sensor62 is interrupted by 62' to send a signal "Sensor No. 2" to Am1. Sinceno signal is received at Al1 or Am3, nothing further happens.

The operator then selects the "Auto" mode of operation and presses the"Start" button on the control panel 24. The "Start" buttonsimultaneously applies a signal to Mb1, to Nd3 (which inhibits theoutput from Nd2), and Mk1. If there is no signal at Mb4, an outputsignal is generated at Mb2 and transmitted to Ba3. It will be noted,however, that a safety feature is introduced by providing that if theoperator presses the "Stop" button or the "E Stop" (emergency stop)button, or if a signal representing "Tube Failure," as described below,is received at any "1" of Oa, a signal is generated at Oa2 which istransmitted to Mb4 to cancel the "Start" signal received at Mb1 andthereby stop further operation of the doffing machine 10.

The aforesaid "Auto" (automatic operation) button applies a signal atMk3, which combines with the previous signal received at Mk1, togenerate a signal at Mk2 which is applied to Ag3, Ah3, and Ai3, and toOf1 which generates a signal at Of2 that is transmitted simultaneouslyto Am3, Al3', Ab3, Aa3 and Bd3.

Since the pushdown bar 112 is normally at its retracted or downposition, eighth sensor 120 is interrupted by plate 120' to generate asignal "Sensor No. 8" that is applied through Af to Am3' which generatesa signal at Am2 that is applied to Ba3' producing a signal at Ba2 thatis applied to Mc1. Since a signal has previously been received at Mc3, asignal is generated at Mc2 and applied to Md3 and to "Engage TransportLock" through Ni whereby fluid cylinder 56 causes bifurcated member 58to be lowered until it engages a pin element 48, thereby raising rod 66to interrupt the air stream of third sensor 64 and generating a signal"Sensor No. 3."

The signal "Sensor No. 3" is applied to Ab1 and since Ab3 has previouslyreceived a signal, a signal is generated at Ab2 and transmitted to Md1to generate a signal at Md2, which is applied at Me3 and Nj1. The signalapplied at Nj1 causes an output signal to be generated at Nj2 thereofwhich is transmitted to Nc1 that generates a signal at Nc2 that istransmitted to Nb3 which removes the output signal at Nb2 whereby the"Engage Transport Lift" is reversed to cause the fluid cylinder 42 toraise the right end of transport cylinder 38 until slot 52 disengagesthe right pin element 48 in FIG. 3.

The aforesaid output signal at Nj2 is also applied directly to"Transport" which causes the transport cylinder 38 to be moved towardthe right in FIG. 3, relative to the carriage frame 12 which is anchoredby the bifurcated member 58.

The signal from Nc2 is also transmitted to "Doffing" whereby thesubframe 70 is moved downwardly by the fluid cylinders for elements 84.As previously described, this downward movement of the subframe 70results in the clamps 68, 69 being rotated from a vertical dispositionto a horizontal disposition, with the clamps 68 closed and carryingthree empty bobbins which are loaded onto the three empty spindles 28and with the clamps 69 open and moving to a position about, and spacedfrom, three full bobbins located on the three next adjacent spindles.

The aforementioned signal generated at Nc2 is also simultaneouslytransmitted to De1 which, after a predetermined time delay, transmits asignal to "Empty Bobbin Magazine" and to Ob1. The signal to "EmptyBobbin Magazine" causes the fluid cylinder for piston rod 138 (FIG. 7)to be energized whereby the magazine 134 is moved to its left orretracted position in FIG. 7 to permit empty bobbins to fall into thethree U-shaped supports 140 while the subframe 70 is moving downwardly.Likewise, the signal transmitted to Ob1 generates a signal at Ob2 whichtransmits a signal to "Unload And Empty Bobbin Loading" to cause thefluid motor 128 to move the loading tray 126 from its right extendedposition to its left retracted position in FIG. 7, and to energize thefluid cylinder for piston rod 108 which causes the throw box 102 to berotated from its horizontal to its vertical position.

Since, as just described, several components are moving simultaneously,several of the pneumatic sensors are also caused to generate signalsgenerally simultaneously. Thus, when the subframe 70 reaches its lowestposition, the air stream of fifth sensor 90 is interrupted by surface88' to generate a signal "Sensor No. 5," and when the throw box 102reaches its vertical disposition, the seventh sensor 120 is interruptedby plate 120' to generate a signal "Sensor No. 7." When loading tray 126moves to its retracted position, tenth sensor 144 is interrupted by endface 144' to generate a signal "Sensor No. 10," and when magazine 134moves to its retracted position, ninth sensor 142 is interrupted byplate 142' to generate a signal "Sensor No. 9."

The signal from "Sensor No. 5" is transmitted through Ac to Aj3, and thesignal from "Sensor No. 7" is transmitted to Aj1, whereby an outputsignal is generated at Aj2 and applied to Bd3' and to Ne3. Also, thesignal from "Sensor No. 9" is transmitted through Ad to Ak3, and thesignal from "Sensor No. 10" is transmitted to Ak1 through Og1 and Og2,whereby an output signal is generated at Ak2 and applied to Bd3.

Since all three of the conditional signals for Bd have now beenreceived, a signal will be generated at Bd2 which is transmitted to Me1,which, having previously received a conditional signal at Me3, willgenerate an output signal at Me2. This output signal is transmitteddirectly to "Pushdown And Clamps" which simultaneously causes the threeempty bobbin clamps 68 to be opened by cylinders 86, the three fullbobbin clamps 69 to be closed about three full bobbins on the spindles28, and the push down bar 112 to be raised by rods 114.

Also, the signal generated at Me2 is transmitted to Nc3 which removesthe signal at Nc2, whereby reversing the above-described operation bycausing the "Doffing" subframe 70 to begin moving to its raisedposition, causing the "Engage Transport Lift" cylinder 42 to lower thelift end of transport cylinder 38 until slot 52 engages the middle pinelement 48, causing the "Unload" throw box 102 to return to itshorizontal disposition, causing the "Empty Bobbin Magazine" 134 toreturn to its extended position, and causing the "Empty Bobbin Loading"tray 126 to return to its extended position.

The aforesaid signal generated at Me2 is also applied at Be3 and Bf3'.When the now upwardly moving subframe 70 reaches the previouslydescribed predetermined height, sixth sensor 92 will be interrupted bysurface 92' to generate a signal "Sensor No. 6" that is applied to Al1,and since conditional signals have been previously applied at Al3' andAl3 from "Sensor No. 1" and from Of2, a signal is generated at Al2 andtransmitted to Al3, and to Be3' whereby an output signal is generated atBe2. This output signal at Be2 is applied to Ni3 and Ni3 which removesthe previous output signals at "Engage Transport Lock" and at"Transport" so that the cylinder 56 is raised until bifurcated member 58clears the right pin element 48 and so that the transport cylinder 38 isenergized to push piston rod 44 therefrom toward the right and therebycause the carriage frame 12 to be moved along the spinning frame by theaforesaid predetermined increment of movement.

When the subframe 70 reaches its fully raised position, fourth sensor 88is interrupted by plate 88' to generate a signal "Sensor No. 4" whichcauses an input signal to be received at Aa1 and an output signal to begenerated at Aa2 (Aa3 and Aa3' having previously received signals fromOf2 and Al2, respectively). The output signal from Aa2 is applied to Ne1and an output signal is generated at Ne2 since the inhibit at Ne3 isremoved by "Sensor No. 5" being removed when the subframe 70 startsupwardly, the signal at Aj3 likewise being removed to remove the outputsignal at Aj2. The output signal generated at Ne2 is transmitted to Bf3and an output signal is generated at Bf2 since a signal at Bf3' had beenpreviously received from Me2. This output signal from Bf2 is applied toNa3 through time delay Da so as to inhibit Na and remove the outputsignal at Na2. By removing the output at Na2, all of the memory circuitsMc, Md and Me are reset to begin an entire new cycle. It will be notedthat when Me is reset, the output at Me2 is removed from "Pushdown andClamps" so that fluid cylinders 86 are energized to close three emptybobbin clamps 68 to engage three new empty bobbins in the U-shapedsupports 140, the three full bobbin clamps 69 are opened byde-energizing fluid cylinders 86' to release the full bobbins which arepositioned on the horizontal support bar 100, and the push down bar 112is lowered to its retracted position to strike the ends of the fullbobbins on support bar 100 and cause them to fall into the chutes 98 andcompartments 106.

Since inadvertent jamming of the loading tray 126, while undesirable,does not directly affect the doffing of the full bobbins and may bedifficult to correct in an aisle between adjacent spinning frames, thepresent invention provides a "manual" switch which the operator canpress to by-pass the operation of the loading tray 126 altogether andpermit the doffing machine to continue its doffing operation, eventhough no further empty bobbins will be donned onto the spindles 28. Asseen in FIG. 10, a continuously "manual" signal may be selectivelyapplied by the operator to Og1' which has the same effect as if the"Sensor 10" signal were being continuously applied to Ak1 through Og.Thus, the jamming of the loading tray 126 would ordinarily prevent asignal being generated at "Sensor 10" and would stop the furtheroperation of the doffing machine. By operating the "manual" switch, acontinuous signal is applied to Og1' whereby the doffing machine willcontinue to operate, but without the loading tray 126 supplying emptybobbins to the vertical bobbin channels 122.

It will be seen from the above that the plurality of pneumatic sensorsand the air logic control system provides a control for the doffingmachine 10 which is safe, reliable, and relatively inexpensive, andvirtually foolproof. It is to be particularly noted that each of thevarious movements of the doffing machine components will interrupt astream of air from one of the sensors to generate a pneumatic signal,and these signals are received by the logic control system in a mannerwhich assures that the various movements of the doffing machinecomponents must occur in an exact predetermined sequence. For example,during the continuous operating cycle of the doffing machine 10, thesubframe 70 cannot begin its downward or bobbin loading movement unlessthe carriage frame 12 has been moved along the spinning frame 26 for apredetermined increment of movement during the preceding cycle. Thesubframe 70 cannot begin its upward or full bobbin doffing movementuntil the subframe 70 has reached its lowest position to complete theempty bobbin loading step, it being noted in FIG. 10 that the "Doffing"block does not receive a signal to raise the subframe 70 until an outputsignal is generated at Me2, and this output signal is generated onlyafter a conditioning signal is received at Aj3 from "Sensor No. 5."Moreover, the transport cylinder 38 cannot begin to move the carriageframe 12 along the spinning frame 26 until a conditioning signal isreceived from "Sensor No. 6," as described above in connection with FIG.10. The movement of the throw box 102, the loading tray 26, and themagazine 134 are likewise conditioned upon receipt of a predeterminedsignal from "Sensor No. 5," so that all of the component movements aredependent upon the movement of another predetermined componentinterrupting the air stream of a selected pneumatic sensor.

In accordance with a further feature of the present invention, aspecific control is imposed upon the doffing machine 10 if, for anyreason, a predetermined number of empty bobbins are not loaded on thespinning frame spindles 28 during one pass of the doffing machine downthe row of spindles 28. It will be recalled that each of the threeU-shaped empty bobbin supports 140 has a pneumatic sensor locatedtherein, namely the eleventh sensor 146, the twelfth sensor 148, and thethirteenth sensor 150 described above. Looking at FIG. 10, when "SensorNo. 5" generates a signal indicating that the subframe 70 is at itslowest position, whereby three empty bobbins should have dropped intothe U-shaped supports 140 as described above, the output from Ac2 istransmitted to Nf1, Ng1, and Nh1. If a bobbin is present in all threeU-shaped supports 140, signals "Sensor No. 11," "Sensor No. 12" and"Sensor No. 13" will cause a signal to be transmitted to Nf3, Ng3 andNh3 through Ag, Ah and Ai, respectively, which have previously receivedconditional signals from Mk2, whereby no signal will be generated atNf2, Ng2 or Nh2, and nothing further happens.

If, however, an empty bobbin fails to fall into one or more of the threeU-shaped supports 140, no signal will be generated at one or the othersof Ag, Ah or Ai, and no signal will be received at one or the others ofNf, Ng or Nh. Therefore, one or more signals will be generated at Nf2,Ng2 or Nh2 and transmitted to Mf1 through Od and Oe. Since Mf3 will havepreviously received a signal from Ma2 as described above, a signal willbe generated at Mf2 and transmitted to Mg3. At the end of each operatingcycle of the doffing machine 10, a signal will be generated at "SensorNo. 4," as described above, and transmitted to Mg1, whereupon an outputsignal will be generated at Mg2. This output signal may be used to sounda "Horn" or similar alarm indicating that, during any one cycle, one ormore bobbins failed to fall in the U-shaped supports 140 whereby one ormore of the spinning frame spindles 28 will not have been properlyloaded, and this output signal may also be transmitted to Mh3 and remainas a conditional signal thereat. If during any succeeding cycle of thedoffing machine 10, one or more empty bobbins fail to fall into thethree U-shaped supports 140, a signal will be imposed on Mh1 in the samemanner as that described immediately above. Likewise, if during stillanother succeeding cycle one or more empty bobbins do not fall into thethree U-shaped supports 140, a signal will be imposed on Mj1, generatinga signal at Mj2 which is transmitted back to Oa1 which causes a signalto be generated at Oa2 and transmitted to Mb4 to stop immediately theentire operation of the doffing machines 10, as described above.

Thus, the control system is designed to receive a first signal (e.g."Sensor No. 11") each time one or more empty bobbins are disposed in theU-shaped supports 140 during any given cycle, to receive a second signal(e.g. "Sensor No. 4") at the completion of each cycle, and to generate athird signal (e.g. Mf2) when the first and second signals are notpresent simultaneously. This third signal may be used to sound a horn,and to stop the operation of the doffing machine altogether when apredetermined member of such third signals have been generated. In thedisclosed embodiment, this predetermined number is three, therebystopping operation when three to nine empty bobbins have not beenproperly loaded, but it is to be understood that this predeterminednumber could be other than three by varying the number of memorycircuits similar to Mf.

Using much of the same parts of the air logic control system, thepresent invention also provides for sounding an alarm and/or stoppingthe operation of the machine when empty bobbin tubes are located in theU-shaped supports 140 when they should not be. Thus, when the outputsignal from De2 is transmitted to "Empty Bobbin Magazine," the tubemagazine 134 begins to move to its retracted position and should nothave any empty bobbins located in the U-shaped supports 140. This outputsignal from De2 is also transmitted to Bg3 through time delay Dc. If anempty bobbin is improperly located within any one of the three U-shapedsupports 140, signal "Sensor No. 11," and/or "Sensor No. 13" willgenerate a signal to Bg3' through Ag2, Ah2 and/or Ai2, respectively, andOe2, thereby generating a signal at Bg2 which is transmitted to Mf1, Mh1and/or Mj1 through Oc to sound the "Horn" or stop the operation of thedoffing machine 10 in the same manner described above. It will be notedthat the air logic control system generates a third signal (e.g. Mf2)whenever it receives, simultaneously, a first signal (e.g. De2)indicating the tube magazine 134 is returning to its retracted positionto receive additional empty bobbins, and a second signal (e.g. "SensorNo. 11") indicating that the tube magazine 134 already has an emptybobbin in one or more of the U-shaped supports 140. When a predeterminednumber of such third signals have been generated, an alarm will sound,or the operation of the doffing machine 10 is stopped.

The present invention has been described in detail above for purposes ofillustration only and is not intended to be limited by this descriptionor otherwise to exclude any variation or equivalent arrangement thatwould be apparent from, or reasonably suggested by, the foregoingdisclosure to the skill of the art.

We claim:
 1. Apparatus for donning and doffing bobbins onto and off ofthe spindles of a spinning frame, said apparatus including:(a) carriagemeans having transport means movable to a first position for causingsaid carriage to move along said spinning frame; (b) bobbin donning anddoffing means carried by said carriage means and arranged for initialmovement to a first position at which at least one empty bobbin isdonned onto a spindle and released, and for subsequent movement to asecond position at which at least one full bobbin is doffed from aspindle; (c) pneumatic sensor means disposed to emit a stream of airinto the paths of movement of said transport means and said bobbindonning and doffing means, said sensor means generating first, secondand third pneumatic signals each time said steam of air is interruptedby said transport means moving to said first position thereof, by saiddonning and doffing means moving to said first position thereof, and bysaid donning and doffing means moving to said second position thereof,respectively; and (d) control means receiving said pneumatic signals andoperable:(i) to move said donning and doffing means to said firstposition thereof only after said first pneumatic signal has beenreceived; (ii) to move said donning and doffing means to said secondposition thereof only after said second pneumatic signal has beenreceived; and (iii) to move said transport means to said first positionthereof only after said third pneumatic signal has been received. 2.Apparatus for donning and doffing bobbins as defined in claim 1 andfurther characterized in that said apparatus includes unloader means forreceiving full bobbins doffed by said bobbin donning and doffing means,said unloader means being movable from a first position for receivingsaid full bobbin to a second position for ejecting said full bobbins, inthat said pneumatic sensor means emits a stream of air into the path ofsaid unloader means for generating a fourth signal each time saidairstream is interrupted by the movement of said unloader means movingto said second position thereof, and in that said control means isoperable to move said bobbin donning and doffing means to said secondposition thereof only after said second pneumatic signal and said fourthpneumatic signal have been received.
 3. Apparatus for donning anddoffing bobbins as defined in claim 1 and further characterized in thatsaid apparatus includes empty bobbin supply means for supplying emptybobbins to said bobbin donning and doffing means, said bobbin supplymeans being movable from a first position to receive an empty bobbin toa second position to supply an empty bobbin to said bobbin donning anddoffing means, in that said pneumatic sensor means emits a stream of airinto the path of said bobbin supply means for generating a fifth signaleach time said airstream is interrupted by the movement of said bobbinsupply means to said second position thereof, and in that said controlmeans is operable to move said bobbin donning and doffing means to saidsecond position thereof only after said second pneumatic signal and saidfifth pneumatic signal have been received.
 4. Apparatus for donning anddoffing bobbins as defined in claim 3 and further characterized in thatsaid empty bobbin supply means includes at least one cradle means forreceiving and supporting an empty bobbin, in that said pneumatic sensormeans emits a stream of air into the path of said empty bobbin as it isreceived by said cradle means and for generating a seventh signal eachtime said bobbin donning and doffing means moves to said second positionthereof and said airstream in the path of said empty bobbin is notinterrupted by said empty bobbin, and in that said control means isoperable to prevent further movement of said transport means and saidbobbin donning and doffing means upon receipt of a predetermined numberof said seventh signals.
 5. Apparatus for donning and doffing bobbins asdefined in claim 4 and further characterized in that said empty bobbinsupply means includes a plurality of said cradle means, and in that saidpneumatic sensor means emits a stream of air into the path of each saidempty bobbins received by each of said plurality of cradle means forgenerating said seventh signal each time said empty bobbin supply meansmoves to said first position thereof and said airstream in the path ofany of said empty bobbins is not interrupted.
 6. Apparatus for donningand doffing bobbins as defined in claim 1 and further characterized inthat said transport means includes means associated therewith forselective engagement with an element fixed with respect to said spinningframe, said engaging means being movable between a first position out ofengagement with said fixed element and a second position engaging saidfixed element, in that said pneumatic sensor means emits a stream of airinto the path of movement of said engaging means for generating a sixthsignal each time said engaging means moves to said second positionthereof, and in that said control means is operable to move saidtransport means to said first position thereof only after said thirdpneumatic signal and said sixth pneumatic signal have been received. 7.Apparatus for donning and doffing bobbins onto and off the spindles of aspinning frame, said apparatus including:(a) carriage means havingtransport means movable to a first position for causing said carriagemeans to move along said spinning frame, said transport means includingengaging means associated therewith for selective engagement with anelement fixed with respect to said spinning frame, said engaging meansbeing movable between a first position out of engagement with said fixedelement and a second position engaging said .[.first.]. .Iadd.fixed.Iaddend.element; (b) bobbin donning and doffing means carried by saidcarriage means and arranged for initial movement to a first position atwhich at least one empty bobbin is donned onto a spindle and released,and for subsequent movement to a second position at which at least onefull bobbin is doffed from a spindle; (c) unloader means for receivingfull bobbins doffed by said bobbin donning and doffing means, saidunloader means being movable from a first position for receiving saidfull bobbins to a second position for ejecting said full bobbins; (d)empty bobbin supply means for supplying empty bobbins to said bobbindonning and doffing means, said bobbin supply means being movable from afirst position to receive an empty bobbin to a second position to supplyan empty bobbin to said bobbin donning and doffing means; (e) pneumaticsensor means disposed to emit a stream of air into the paths of movementof said transport means, said engaging means, said bobbin donning anddoffing means, said unloader means, and said empty bobbin supply means,said sensor means generating:(i) a first signal each time said airstreamis interrupted by said transport means moving to said first positionthereof; (ii) a second signal each time said airstream is interrupted bysaid donning and doffing means moving to said first position thereof;(iii) a third signal each time said airstream is interrupted by saiddonning and doffing means moving to said second position thereof; (iv) afourth signal each time said airstream is interrupted by .[.and.]. saidunloader means moving to said second position thereof; (v) a fifthsignal each time said airstream is interrupted by said bobbin supplymoving to said second position thereof; and (vi) a sixth signal eachtime said airstream is interrupted by said engaging means moving to saidsecond position thereof; (f) control means receiving said pneumaticsignals and operable:(i) to move said donning and doffing means to saidfirst position thereof only after said first pneumatic signal has beenreceived; (ii) to move said donning and doffing means to said secondposition thereof only after said second, fourth and fifth pneumaticsignals have been received; and (iii) to move said transport means tosaid first position thereof only after said third and sixth pneumaticsignals have been received.
 8. Apparatus for donning bobbins onto thespindles of a spinning frame, said apparatus including:(a) carriagemeans having transport means for moving said carriage means along saidspinning frame; (b) support means for receiving and supporting at leastone empty bobbin therein; (c) bobbin donning means movable in a cycle topick up an empty bobbin from said support means and to don said emptybobbin onto a spindle; (d) pneumatic sensor means disposed:(i) to emit astream of air into said support means for generating a first signal whenan empty bobbin is supported in said support means; and (ii) to emit astream of air into the path of movement of said bobbin donning means togenerate a signal upon the completion of said cycle thereof; and (e)control means receiving said first and second pneumatic signals andgenerating a third pneumatic signal each time said first and secondpneumatic signals are not present simultaneously, said control meansbeing operable to stop further movement of said carriage means and saidbobbin donning means when a predetermined number of said third pneumaticsignals are generated.
 9. Apparatus for donning and doffing bobbins ontoand off of spindles of a spinning frame, said apparatus including:(a)carriage means having movable transport means for advancing .Iadd.saidmeans along .Iaddend.said spinning frame in sequential steps; (b) bobbindonning means carried by said carriage means and movable to don emptybobbins onto said spinning frame spindle; (c) bobbin doffing meanscarried by said carriage means and movable to doff full bobbins fromsaid spinning frame spindles; (d) pneumatic sensor means disposed toemit a stream of air into the paths of movement of said transport means,said bobbin donning means, and said bobbin doffing means, respectively,said sensor means generating a pneumatic signal each time said stream ofair is interrupted by said movement of said transport means, said bobbindonning means, and said bobbin doffing means; and (e) control meansreceiving said pneumatic signals and operable to cause said movement ofsaid transport means, said bobbin donning means, and said bobbin doffingmeans in a predetermined sequence.
 10. Apparatus for donning bobbinsonto the spindles of a spinning frame, said apparatus including:(a)carriage means having transport means for moving said carriage meansalong said spinning frame; (b) support means for receiving andsupporting at least one empty bobbin therein, said support means beingmovable from a first position to a second position at which said emptybobbin is received; (c) pneumatic sensor means disposed to emit a streamof air into said support means for generating a first pneumatic signalwhen an empty bobbin is disposed in said support means; (d) means forgenerating a second pneumatic signal when said support means begins itsmovement from said first to second position thereof; and (e) controlmeans receiving said first and second pneumatic signals and generating athird pneumatic signal each time said first and second pneumatic signalsare present simultaneously, said control means being operable to stopfurther movement of said carriage means and said support means when apredetermined number of said third pneumatic signals are generated..Iadd.
 11. Apparatus for doffing bobbins off the spindle of a spinningframe, said apparatus including:(a) carriage means having transportmeans movable to a first position for causing said carriage to be movedalong said spinning frame; (b) bobbin doffing means carried by saidcarriage means and arranged for movement between a first position atwhich at least one bobbin on a spindle is engaged and a second positionto remove said engaged bobbin from said spindle; (c) pneumatic sensormeans disposed to emit a stream of air into the paths of movement ofsaid transport means and said bobbin doffing means, said sensor meansgenerating a first pneumatic signal each time said stream of air isinterrupted by said transport means moving to said first positionthereof and generating a second pneumatic signal each time said streamof air is interrupted by said bobbin doffing means moving from saidfirst position to said second position thereof; and (d) control meansreceiving said pneumatic signals and operable:(i) to move said bobbindoffing means from first position to said second position thereof onlyafter said first pneumatic signal has been received; and (ii) to movesaid transport means to said first position thereof only after saidsecond pneumatic signal has been received. .Iaddend. .Iadd. 12.Apparatus for doffing bobbins as defined in claim 11 and furthercharacterized in that said carriage means has supported therein unloadermeans for receiving full bobbins doffed by said bobbin doffing means,said unloader means being movable from a first position for receivingsaid full bobbin therefrom to a second position for ejecting said fullbobbins therefrom, in that said pneumatic sensor means emits a stream ofair into the path of said unloader means as it moves from said first tosaid second position thereof for generating a further pneumatic signaleach time said air stream is interrupted by said unloader meansmovement, and in that said control means is operable to move saidunloader means from said first position thereof to said second positionthereof only after said second pneumatic signal has been received and isoperable to move said transport means to said first position thereofonly after said first pneumatic signal and said further pneumatic signalhave been received. .Iaddend. .Iadd.13. Apparatus for doffing bobbinsoff the spindle of a spinning frame, said apparatus including:(a)carriage means having movable transport means for advancing saidcarriage means along said spinning frame in sequential steps; (b) bobbindoffing means carried by said carriage means and movable to doff fullbobbins from said spinning frame spindles; (c) pneumatic sensor meansdisposed to emit a stream of air into the path of movement of saidtransport means and into the path of movement of said bobbin doffingmeans, said sensor means generating a pneumatic signal each time saidstream of air is interrupted by said movement of said transport meansand by said movement of said bobbin doffing means; and (d) control meansreceiving said pneumatic signals and operable to cause said movement ofsaid transport means and said bobbin doffing means in a predeterminedsequence. .Iaddend.